CN201685899U - Automatic safety control system of electric automobile - Google Patents
Automatic safety control system of electric automobile Download PDFInfo
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- CN201685899U CN201685899U CN2010201082078U CN201020108207U CN201685899U CN 201685899 U CN201685899 U CN 201685899U CN 2010201082078 U CN2010201082078 U CN 2010201082078U CN 201020108207 U CN201020108207 U CN 201020108207U CN 201685899 U CN201685899 U CN 201685899U
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Abstract
The utility model relates to an automatic safety control system of an electric automobile, which is applicable to electric three-wheeled automobiles and other narrow automobiles, wherein the front wheel of an automobile body is one or two, and two wheels are adopted for the rear automobile whole body. The automobile body (1) and the rear automobile whole body (2) are connected by a left digital hydraulic cylinder (9) and a right digital hydraulic cylinder (10) as well as a T-shaped mechanism (15), a steering wheel steering mechanism (7) is provided with a steering torque sensor (6); the front wheel of the automobile (3) is provided with a speed sensor (5) which collects the speed of the automobile; the automobile body is also provided with an inertial navigation sensor (4); the speed sensor (5) and the steering torque sensor (6) are connected with the input end of an automobile safety controller (8) by a CAN bus, and the output end of the automobile safety controller (8) is connected with the left digital hydraulic cylinder (9) and the right digital hydraulic cylinder (10) connecting the automobile body (1) with the rear automobile whole body (2).
Description
Technical field
The utility model relates to a kind of automatic safety control system of electric vehicle, be applicable to electric three-wheel automobile and other narrow body automobile, the vehicle body front-wheel uses a wheel or two wheels, two wheels of whole use behind the car.Whole by a T shape mechanism and two the digital hydraulic actuating cylinder supports that can freely stretch be connected behind vehicle body and the car.At front-wheel mounting vehicle steering torque sensor and speed sensor, the safety control system circuit is collected from the steering angle information of Vehicular turn torque sensor, the velocity information of speed sensor and the various information of inertial navigation sensor by the CAN bus.Run at high speed to turn the time at car, behind the information via Kalman filter algorithm and other algorithm operational analysis that safety control system circuit handle is collected, produce certain series of pulses signal, the digital hydraulic actuating cylinder of two supports of impulse singla control vehicle body stretches and makes vehicle body swing tilt, changed the center-of-gravity position of vehicle body, guaranteed that car is unlikely to take place roll-over accident when tempo turn thereby overcome the turning centnifugal force.The invention belongs to high security new green power electronlmobil field.
Background technology
Treasure oil resources limited on the earth, the human natural environment of depending on for existence of protection reduces greenhouse gas emissions, and the containment global warming trend has become the common issue that countries in the world face.Alleviate this two problems that are on the rise, auto-industry are inevitable to be developed towards environmental protection, cleaning, energy-conservation direction, comprises that development uses cleaning alternative fuel automobile and electronlmobil.Electronlmobil, be all or part of to come automobile as the drive system propulsion source with electric power, become the main direction of contemporary development of automobile, must be the most potential vehicle of 21 century, meet energy sustainable use strategy fully, thereby along with the progress of technical merit, pure electric vehicle is having vast potential for future development.
And along with the raising of people's living standard, increasing people has had vehicle.But highway and parking area resource are very limited.And existing four-wheel automobile has only one or two people to sit generally speaking usually, and the space of waste is very big, energy dissipation also relatively more severe.In order to improve the vehicle space degree of utilization and to alleviate highway, the nervous problem of parking area resource, narrow body car is a good solution.Narrow body car can be designed to people's seat or front and back two people's seats.
Narrow body three wheeled motor vehicle is because its high narrow body drawing is run at high speed when turning because action of centrifugal force makes it that roll-over accident take place easily.Under the prerequisite of safety, can only reduce the danger that centnifugal force brings by underspeeding.Therefore, the speed of present three wheeled motor vehicle on the market is to limit a weakness of its market development always.
Summary of the invention
The utility model purpose is at above-mentioned weak point, a kind of automatic safety control system of electric vehicle is provided, can control flexible digital hydraulic actuating cylinder and be connected behind vehicle body and the car whole with two by a T shape mechanism, installation rate sensor acquisition velocity information on steering torque sensor collection steering angle and the wheel is being installed on the front-wheel direction actuating spindle, and vehicle body is installed the inertial navigation sensor.Vehicle is being run at high speed will turn the time, steering angle information and velocity information and inertial navigation sensor output information that vehicle safety control system collects by processing, by certain algorithm and analysis computing, export certain series of pulses signal, impulse singla orders about the corresponding fore and aft motion of doing of two digital hydraulic actuating cylinders that support vehicle body and swings vehicle body, change the vehicle body center of gravity, thereby the centrifugal action when offsetting tempo turn guarantees that vehicle does not overturn.
Safety performance during turning is the key factor of three wheeled motor vehicle speed limit, and the assurance of safety realizes by centrifugal equilibrium of forces.Therefore can realize the turning security of three wheeled motor vehicle by the turning principle of two-wheeled motor vehicle.Promptly when turning, the canting by the three wheeled motor vehicle vehicle body realizes centrifugal equilibrium of forces, reaches vehicle and can travel in high speed gear and purpose of safety very.Designed a kind of electric three-wheel automobile that carries out realizing when quantitative swinging to the left or to the right makes the vehicle tempo turn safety of centnifugal force balance by the automatic guidance vehicle body for this reason.Vehicle is at front-wheel installation rate sensor and acceleration pick-up, and on automobile body the inertial navigation sensor is installed.The time was fast speed very when vehicle was turned at high-speed cruising, and vehicle swing actuating unit is a hydraulic efficiency pressure system, when carrying out, hydraulic efficiency pressure system needs certain hour, in this case, this just requires to swing control system must have and predict vehicle movement speed and vehicle body angle information in advance, can have that chien shih treater and hydraulic efficiency pressure system carry out suitable work when sufficient.In order to predict vehicle movement speed and vehicle body angle, the utility model has adopted Kalman filter algorithm to predict, the incoming signal of Kalman filter is: inertial navigation system output information, vehicle speed sensor output information and acceleration pick-up output information.Kalman filter has current, following and former velocity information and the vehicle body angle information function of output vehicle.
Automatic safety control system of electric vehicle is to take following technical scheme to realize:
Automatic safety control system of electric vehicle, it is characterized in that being connected with right digital hydraulic actuating cylinder (10) and T shape mechanism (15) by left digital hydraulic actuating cylinder (9) between whole (2) behind vehicle body (1) and the car, wheel steering mechanism (7) goes up steering torque sensor (6) is installed, and this sensor is collected turn inside diameter information; On vehicle (3) front-wheel speed sensor (5) has been installed, this sensor is collected the speed of vehicle; Inertial navigation sensor (4) also has been installed on vehicle body, and inertial navigation sensor (4) is collected the acceleration/accel and the vehicle angles information of vehicle; Speed sensor (5) and steering torque sensor (6) are connected to the input end of vehicle safety controller (8) by the CAN bus.Vehicle safety controller (8) mouth be connected vehicle body (1) and car after the left digital hydraulic actuating cylinder (9) of whole (2) link to each other with right digital hydraulic actuating cylinder (10), control left digital hydraulic actuating cylinder (9) and right digital hydraulic actuating cylinder (10).Inertial navigation sensor (4) is installed on the vehicle body, and its signal input is input to vehicle safety control system (8) by the CAN bus.
Vehicle safety controller (8) gathering speed sensor (5), steering torque sensor (6), inertial navigation sensor (4) are measured the gained data message, through the computing of in-to-in analysis and Control, vehicle safety control system (8) output series of pulses signal, impulse singla control left hydraulic cylinder (9) is done relevant fore and aft motion with right hydraulic actuating cylinder (10), make whole electric automobile vehicle body (1) be implemented in 0.5 second time to the left or to the right direction and make the certain angle hunting motion, angle swinging is 0～45 °, vehicle can be run at high speed, and it also is safe running at high speed when turning.
It is the embedded system of core processor that described vehicle safety controller (8) adopts the central process unit TMS320LF240x chip with low cost, low-power consumption and high-performance treatments ability, and it is input as the signal of speed sensor (5), steering torque sensor (6), inertial navigation sensor (4) output.
The central process unit of vehicle safety control system (8) adopts commercially available TMS320LF240x chip, and this is the chip of a low cost, low-power consumption and high-performance treatments ability.It has flexibly instruction set, internal operation, high-revolving arithmetic capability, improved parallel organization, actv. cost flexibly.The central process unit of vehicle safety control system (8) connected with speed sensor (5), steering torque sensor (6), being connected by the CAN bus interface of inertial navigation sensor (4).The use of CAN bus makes sensor can be installed to the position distant apart from central process unit.
Digital hydraulic actuating cylinder in a described left side (9) and right digital hydraulic actuating cylinder (10) are the actuating units that promotes body movement, and T shape mechanism (15) is the structure of whole (2) behind connection vehicle body (1) and the car.
Described T shape mechanism (15) comprise with T shape structure bonded assembly body contact bar (1-1), with T shape structure bonded assembly car after whole pipe link (2-1), body inclination center shaft (15-1), vehicle body center of gravity lifting mechanism (15-2).Vehicle body connects behind the car whole by body inclination center shaft (15-1), vehicle body center of gravity lifting mechanism (15-2).Around this inclination that realizes vehicle body, simultaneously, the decline of center of gravity realizes by vehicle body center of gravity lifting mechanism (15-2) vehicle body during body inclination by body inclination center shaft (15-1).Vehicle body center of gravity lifting mechanism (15-2) comprises jam nut (15-2-1), turning unit (15-2-2), two bearings (15-2-3), rotary middle spindle (15-2-4).Turning unit (15-2-2) is inner realizes and being connected of rotary middle spindle (15-2-4) that by two bearings (15-2-3) two bearings (15-2-3) prevents the end float misalignment of turning unit (15-2-2).By jam nut (15-2-1) locking turning unit (15-2-2) and with T shape structure bonded assembly car after whole pipe link (2-1).The body inclination center shaft (15-1) that connects turning unit (15-2-2) is realized the function of vehicle body center of gravity lifting mechanism (15-2) around rotary middle spindle (15-2-4) rotation.
Whole (2) hydraulic reservoir (13), by pass valve (14) and left digital hydraulic actuating cylinder (9) and right digital hydraulic actuating cylinder (10), electrical motor (16), battery and function unit (17) of back two-wheeled (11), hydraulic efficiency pressure system that comprised car behind the car.Whole (2) weight is heavier behind the car, and the chassis is lower, and itself the degree that centre-of gravity shift much reaches overturning can not take place because of centrifugal action during high vehicle speeds.
The digital hydraulic actuating cylinder in a described left side (9) links to each other with hydraulic efficiency pressure system by hydraulic oil pipe with right digital hydraulic actuating cylinder (10).
The control method of automatic safety control system of electric vehicle is as follows:
When high vehicle speeds will be turned, vehicle safety control system (8) carries out Kalman filter algorithm to the speed sensor that collects (5), steering torque sensor (6), inertial navigation sensor (4) information, and this algorithm can dope speed, acceleration/accel and the vehicle body angle of vehicle.The hydraulic actuating cylinder motion is the motion process that needs expend certain hour, and the vehicle tempo turn is a very short time course, central process unit utilization Kalman filter algorithm in the vehicle safety control system (8) dopes the speed of vehicle in advance, acceleration/accel and vehicle body angle information, so central process unit can produce the coherent pulse signal of control figure hydraulic actuating cylinder motion in advance, make two digital hydraulic actuating cylinders in advance: left digital hydraulic actuating cylinder (9) is made relevant fore and aft motion with right digital hydraulic actuating cylinder (10), thereby guaranteed that vehicle can have enough time when tempo turn to realize that the swing vehicle body is to realize adjusting vehicle's center of gravity, the requirement that the realization vehicle safety does not overturn.
Technique effect of the present utility model:
1, the utility model electronlmobil of having an automatic safety control system has used clean energy resource, has realized the purpose of environmental protection; The narrow body of electronlmobil vehicle body has been realized efficiently utilizing parking area resource and road resources simultaneously, has improved car space utilization efficient, has reduced the condition of service of the energy, has saved the energy.
2, the utility model is when the vehicle tempo turn is travelled, vehicle safety control system with the velocity information that collects, angle of turn information etc. through certain real time information Processing Algorithm, vehicle safety control system will be exported certain series of pulses signal and control two digital hydraulic actuating cylinders and make corresponding fore and aft motion and realize that vehicle body swings the center of gravity that changes vehicle body, centnifugal force has guaranteed that to the influence that the vehicle safety aspect causes vehicle roll-over accident can not take place when tempo turn when offsetting the vehicle tempo turn.
3, when signal conditioning, use Kalman filter and carried out predetermined speed, acceleration/accel, vehicle body angle information, thereby make in the short time like this is travelled in the vehicle tempo turn, to make hydraulic actuating cylinder have the sufficient time flexible, make safety to realize to the appropriate location.
4, the supporting use of the utility model and electronlmobil, passenger when electronlmobil is turned correspondingly tilts because of swinging of vehicle body, can avoid health to be thrown toward a side because of action of centrifugal force, improves the comfort of taking.
Description of drawings
Fig. 1 is the utility model running condition allomeric function decomposing schematic representation.
Fig. 2 is the utility model running condition car load perspective view.
Fig. 3 is a T shape of the present utility model mechanism schematic perspective view.
Fig. 4 is a T shape of the present utility model mechanism vehicle body center of gravity lifting mechanism perspective interior view.
Fig. 5 is hydraulic actuating cylinder of the present utility model and body contact mode scheme drawing.
Fig. 6 is the utility model body inclination 45 hydraulic cylinder works situation schematic perspective view when spending.
Number in the figure: 1, vehicle body, 2, whole behind the car, 3, front-wheel, 4, inertial navigation sensor, 5, speed sensor, 6, steering torque sensor, 7, wheel steering system, 8, vehicle safety control system, 9, left digital hydraulic actuating cylinder, 10, right digital hydraulic actuating cylinder, 11, trailing wheel, 12, the hydraulic component connection pipe, 13, hydraulic reservoir, 14, by pass valve, 15, T shape mechanism, 16, electrical motor, 17, battery and function unit;
1-1, with T shape mechanism bonded assembly body contact bar, 2-1, with T shape mechanism bonded assembly car after whole pipe link, 15-1, body inclination center shaft, 15-2, vehicle body center of gravity lifting mechanism;
2-1, with T shape mechanism bonded assembly car after whole pipe link, 15-2-1, jam nut; 15-2-2, turning unit, 15-2-3, two bearings, 15-2-4, rotary middle spindle.
The specific embodiment
With reference to accompanying drawing 1～6, automatic safety control system of electric vehicle, it is characterized in that being connected with right digital hydraulic actuating cylinder (10) and T shape mechanism (15) by left digital hydraulic actuating cylinder (9) between whole (2) behind vehicle body (1) and the car, wheel steering mechanism (7) goes up steering torque sensor (6) is installed, and this sensor is collected turn inside diameter information; On vehicle (3) front-wheel speed sensor (5) has been installed, this sensor is collected the speed of vehicle; Inertial navigation sensor (4) also has been installed on vehicle body, and inertial navigation sensor (4) is collected the acceleration/accel and the vehicle angles information of vehicle; Speed sensor (5) and steering torque sensor (6) are connected to the input end of vehicle safety controller (8) by the CAN bus.Vehicle safety controller (8) mouth be connected vehicle body (1) and car after the left digital hydraulic actuating cylinder (9) of whole (2) link to each other with right digital hydraulic actuating cylinder (10), control left digital hydraulic actuating cylinder (9) and right digital hydraulic actuating cylinder (10).Inertial navigation sensor (4) is installed on the vehicle body, and its signal input is input to vehicle safety control system (8) by the CAN bus.
Vehicle safety controller (8) gathering speed sensor (5), steering torque sensor (6), inertial navigation sensor (4) are measured the gained data message, through the computing of in-to-in analysis and Control, vehicle safety control system (8) output series of pulses signal, impulse singla control left hydraulic cylinder (9) is done relevant fore and aft motion with right hydraulic actuating cylinder (10), make whole electric automobile vehicle body (1) be implemented in 0.5 second time to the left or to the right direction and make the certain angle hunting motion, angle swinging is 0～45 °, vehicle can be run at high speed, and it also is safe running at high speed when turning..
It is the embedded system of core processor that described vehicle safety controller (8) adopts the central process unit TMS320LF240x chip with low cost, low-power consumption and high-performance treatments ability, and it is input as the signal of speed sensor (5), steering torque sensor (6), inertial navigation sensor (4) output.
Vehicle safety control system (8) adopts central process unit TMS320LF240x chip, and this is the chip of a low cost, low-power consumption and high-performance treatments ability.It has flexibly instruction set, internal operation, high-revolving arithmetic capability, improved parallel organization, actv. cost flexibly.The central process unit of vehicle safety control system (8) connected with speed sensor (5), steering torque sensor (6), being connected by the CAN bus interface of inertial navigation sensor (4).The use of CAN bus makes sensor can be installed to the position distant apart from central process unit.
Described speed sensor (5) adopts commercially available speed sensor.Described steering torque sensor (6) adopts commercially available steering torque sensor.Described inertial navigation sensor (4) adopts commercially available inertial navigation sensor.
Digital hydraulic actuating cylinder in a described left side (9) and right digital hydraulic actuating cylinder (10) are the actuating units that promotes body movement, and T shape mechanism (15) is the mechanism of whole (2) behind connection vehicle body (1) and the car.Digital hydraulic actuating cylinder in a described left side (9) and right digital hydraulic actuating cylinder (10) adopt commercially available digital hydraulic actuating cylinder.
Described T shape mechanism (15) comprise with T shape mechanism bonded assembly body contact bar (1-1), with T shape mechanism bonded assembly car after whole pipe link (2-1), body inclination center shaft (15-1), vehicle body center of gravity lifting mechanism (15-2).Vehicle body connects behind the car whole by body inclination center shaft (15-1), vehicle body center of gravity lifting mechanism (15-2).Around this inclination that realizes vehicle body, simultaneously, the decline of center of gravity realizes by vehicle body center of gravity lifting mechanism (15-2) vehicle body during body inclination by body inclination center shaft (15-1).Vehicle body center of gravity lifting mechanism (15-2) comprises jam nut (15-2-1), turning unit (15-2-2), two bearings (15-2-3), rotary middle spindle (15-2-4).Turning unit (15-2-2) is inner realizes and being connected of rotary middle spindle (15-2-4) that by two bearings (15-2-3) two bearings (15-2-3) prevents the end float misalignment of turning unit (15-2-2).By jam nut (15-2-1) locking turning unit (15-2-2) and with T shape mechanism bonded assembly car after whole pipe link (2-1).The body inclination center shaft (15-1) that connects turning unit (15-2-2) is realized the function of vehicle body center of gravity lifting mechanism (15-2) around rotary middle spindle (15-2-4) rotation.
Whole (2) comprise hydraulic reservoir (13), by pass valve (14) and left digital hydraulic actuating cylinder (9) and right digital hydraulic actuating cylinder (10), electrical motor (16), battery and the function unit (17) of two-wheeled (11) behind the car, hydraulic efficiency pressure system behind the car.Whole (2) weight is heavier behind the car, and the domain is lower, and itself the degree that centre-of gravity shift much reaches overturning can not take place because of centrifugal action during high vehicle speeds.
The digital hydraulic actuating cylinder in a described left side (9) links to each other with hydraulic efficiency pressure system by hydraulic oil pipe with right digital hydraulic actuating cylinder (10).
The control method of automatic safety control system of electric vehicle is as follows:
When high vehicle speeds will be turned, vehicle safety control system (8) carries out Kalman filter algorithm to the speed sensor that collects (5), steering torque sensor (6), inertial navigation sensor (4) information, and this algorithm can dope speed, acceleration/accel and the vehicle body angle of vehicle.The hydraulic actuating cylinder motion is the motion process that needs expend certain hour, and the vehicle tempo turn is a very short time course, central process unit utilization Kalman filter algorithm in the vehicle safety control system (8) dopes the speed of vehicle in advance, acceleration/accel and vehicle body angle information, so central process unit can produce the coherent pulse signal of control figure hydraulic actuating cylinder motion in advance, make two digital hydraulic actuating cylinders in advance: left digital hydraulic actuating cylinder (9) is made relevant fore and aft motion with right digital hydraulic actuating cylinder (10), thereby guaranteed that vehicle can have enough time when tempo turn to realize that the swing vehicle body is to realize adjusting vehicle's center of gravity, the requirement that the realization vehicle safety does not overturn.
Provide a better embodiment of the present utility model below in conjunction with accompanying drawing, in order to architectural feature of the present utility model to be described, rather than be used for limiting scope of the present invention.
1, body drawing
Vehicle body (1) can be according to being the design length of sitting or decide for seat before and after two people vehicle body for a people.Consider vehicle windage problem in motion, " narrow long type " car body that the total styling design of vehicle body becomes to reduce resistance as far as possible reduces air resistance in the driving process.Vehicle body (1) front end is installed a front-wheel (3), and front-wheel does not have power driven.Turning to by the wheel steering system (7) of a maturation is installed of vehicle, bearing circle connects front-wheel, realizes Vehicular turn by the side-to-side movement of drawing front-wheel.Speed sensor (5) has been installed on front-wheel, driving torque direction sensor (6) has been installed on the steering shaft of wheel steering system (7).Speed sensor (5) and steering torque sensor (6) are connected to the input end of vehicle safety control system (8) by the CAN bus.The left digital hydraulic actuating cylinder (9) and the right digital hydraulic actuating cylinder (10) of whole (2) after vehicle safety control system (8) is exported control and is connected vehicle body (1) and car.Inertial navigation sensor (4) is installed on the vehicle body, and its signal input is input to vehicle safety control system (8) by the CAN bus.
2, unit design behind the car
Whole (2) are the structures of bearing hydraulic fuel tank (13), by pass valve (14) and left digital hydraulic actuating cylinder (9) and right digital hydraulic actuating cylinder (10), hydraulic component connection pipe (12), electrical motor (16) and electrokinetic cell and function unit (17) behind the car.These equipment frameworks are by on the improved physical construction of vehicle bridge that connects two trailing wheels of vehicle (11).Be connected with right digital hydraulic actuating cylinder (10) with left digital hydraulic actuating cylinder (9) by a T shape mechanism (15) between whole (2) and the vehicle body (1) behind the car.The structure of T shape mechanism (15) as shown in Figure 3.This T shape mechanism is by body inclination center shaft (15-1) and whole (2) after center of gravity lifting mechanism (15-2) has been connected vehicle body (1) and car, vehicle body (1) can be under the prerequisite of body inclination center shaft (15-1) whole (2) stability after not hindering car, by about the flexible realization of digital hydraulic actuating cylinder (9,10) tilt.In body inclination, the body inclination center shaft (15-1) of T shape mechanism can be around vehicle body center of gravity lifting mechanism (15-2) rotation, the problem that center of gravity descends in the time of can solving body inclination.
3, power system design
Electrokinetic cell and function unit thereof (17) and electrical motor (16) are installed on the framework of whole (2) behind the car.The relevant apparatus of power control by wiring with after being connected vehicle body and car on the whole.Electrical motor is connected with single-piece vehicle bridge behind the car by relevant apparatus such as retarders, and to realize power-actuated effect, such design has reduced the distance of transmission, has improved drive efficiency greatly.
4, vehicle safety control system
When high vehicle speeds is wanted tempo turn, vehicle safety control system (8) is by the signal of CAN bus reception from speed sensor (5) and steering torque sensor (6), inertial navigation sensor (4) information, utilize the information of Kalman filter algorithm predetermined speed and angle of turn, central process unit is according to certain principle, output series of pulses signal, two digital hydraulic actuating cylinders of impulse singla control: right hydraulic actuating cylinder (10) and left hydraulic cylinder (9) are done corresponding fore and aft motion makes vehicle body swing, change the vehicle body center of gravity, thereby the centrifugal action when offsetting tempo turn guarantees that vehicle does not overturn.
Described back car integral body (2) can adopt the ripe parts that had on present home market.Back car vehicle bridge axial length is 90cm, and the tire size of employing should make total vehicle-width less than 110cm, and can select specification for use is the tire of 185/70R13.
Front-wheel can be selected on the market the very generally 185/70R13 tire of usefulness for use, also can select than the bigger tire of back two-wheeled specification, and the bearing circle control system of being responsible for turning to (7) is existing ripe structure.Vehicle body (1) is designed to be fit to the size of two people front and back seat, and the total styling design becomes to reduce " narrow long type " car body of resistance as far as possible.
Digital hydraulic system adopts industrial precision type hydraulic actuating cylinder, consider that complete vehicle quality is 550kg～650kg (comprising the passenger), and the layout angle of digital hydraulic actuating cylinder and vehicle body, final definite digital hydraulic actuating cylinder parameter is as follows: pressure is 10Mpa, speed is roughly 300mm/s, and pulse equivalency is 0.2mm, and repetitive positioning accuracy is 0.05mm, stroke is 500mm, and cylinder bore is 50mm.Right digital hydraulic actuating cylinder (10) and left digital hydraulic actuating cylinder (9) adopt same specification.Other device hydraulic reservoirs (13), by pass valve (14) etc. of hydraulic efficiency pressure system use the standard configuration parameter of producer according to the hydraulic actuating cylinder parameter of selecting.
Genemotor system and power control system are configured according to the requirement for the speed of a motor vehicle.
On selected good back car integral body (2) basis, comprise power system, drive system, can carry out architecture design according to selected good hydraulic efficiency pressure system, power driven system, associated components is reasonably installed.
Figure 2 shows that the spatial structure of car load, vehicle body (1) is anterior to be connected with front-wheel (3) by ripe wheel steering system (7), and integral body (2) is connected by left and right digital hydraulic actuating cylinder (9,10) and T shape mechanism (15) shown in Figure 3 behind vehicle body (1) rear portion and the car.Vehicle body (1) is diagram " narrow long type " car body, and inertial navigation sensor (4) is installed on the vehicle body (1), and steering torque sensor (6) is installed in the front-wheel steering system (7), and speed sensor (5) is installed on the front-wheel (3).The framework of whole (2) arranges that on the basis of two-wheeled behind the car (11) and back axle hydraulic reservoir (13), by pass valve (14), electrical motor (16), electrokinetic cell and function unit (17) thereof wait design-calculated behind the car.
Figure 3 shows that T shape mechanism (15), vehicle body (1) can be realized the tilt function of vehicle body (1) around body inclination center shaft (15-1), to be implemented in the inclination in the turning process, overcomes action of centrifugal force; Considering the lifting of center of gravity when vehicle body (1) tilts simultaneously, and the center of gravity lifting of jolting causing of vehicle in advancing, can realize by vehicle body center of gravity lifting mechanism (15-2).
The inner structure that is T shape mechanism vehicle body center of gravity lifting mechanism (1-2) shown in Figure 4, the turning unit (15-2-2) that connects body inclination center shaft (15-1) is realized the lifting of vehicle body (1) around rotary middle spindle (15-2-4).Rotary middle spindle (15-2-4) is connected with whole (2) behind the car simultaneously, and prevents its end float misalignment by jam nut (15-2-1) and two bearings (15-2-3), realizes the function of this mechanism.
Figure 5 shows that the connection structure signal of hydraulic actuating cylinder (9,10) and vehicle body (1), the connection behind hydraulic actuating cylinder (9,10) same vehicle bodies (1) and the car between whole (2) adopts the mode of earrings to connect.Under the suitable prerequisite of the hydraulic actuating cylinder specification of selecting for use, the angle design of hydraulic actuating cylinder and horizontal surface is both with the width of vehicle body (1), highly relevant, vehicle body needs the bevelled angle relevant during also with turning, and the angle shown in the figure just is used for illustrating, does not limit concrete design parameters.
Figure 6 shows that vehicle body (1) or 45 the structural representations when spending that are tilted to the right left, is that the function that swings around body inclination center shaft (15-1) shown in Figure 3 that realizes vehicle body (1) is moved in the elongation of shortening by a hydraulic actuating cylinder and another hydraulic actuating cylinder.
Speed sensor (5) adopts the bright source of occasion, Fuyang City automotive speed sensor Pro2007103173332 of Electronics Co., Ltd., steering torque sensor (6) to adopt German HBM torque direction sensor, the specified measurement range of HBM torque sensor is from 0.1Nm to 300kNm, rated speed of rotation is up to 40,000rpm.Inertial navigation sensor (4) adopts the accelerometer NV-A100 and the gyroscope NV-G100 combination of Beijing Time Technology of anti-prestige Co., Ltd.
The embedded system that it is core processor that vehicle safety control system (8) adopts the commercially available TMS320LF240x chip with low-cost, low-power consumption and high-performance treatments ability, it is input as the signal of speed sensor (5), steering torque sensor (6), inertial navigation sensor (4) output.The inner Kalman filter algorithm that adopts of central process unit in the vehicle safety control system (8) carries out acceleration/accel, angle prediction computing, value according to the prediction computing, calculate the flexible stroke of right hydraulic actuating cylinder (10) and left hydraulic cylinder (9) needs according to certain algorithm, these stroke correspondences corresponding series of pulses signal, and these pulsed drive right hydraulic actuating cylinder (10) and left hydraulic cylinder (9) is made corresponding fore and aft motion.
During this car straight-line travelling, electrokinetic cell (17) supply motor (16) energy, electrical motor (16) drive trailing wheel (11) motion, and advance forward by vehicle body rotary middle spindle (15-1) the promotion car load of T shape mechanism (15) whole (2) behind the car; During this Chefei's straight-line travelling, the direction information of wheel steering system (7) is diverted torque sensor (6) and records, and the signal that records passes through the CAN bus transfer to vehicle safety control system (8).Digital hydraulic actuating cylinder (9,10) is made corresponding fore and aft motion about vehicle safety control system (8) control, makes vehicle body (1) realize that around the body inclination center shaft (15-1) of T shape mechanism (15) direction identical with the turn inside diameter direction tilts.Simultaneously, the center of gravity lifting mechanism (15-2) of this T shape mechanism (15) solves the center of gravity decline problem that vehicle body (1) causes because of tilting around rotary middle spindle (15-2-4).Like this, the action of centrifugal force when having overcome this Chefei straight-line travelling of swinging vehicle body (1) has realized the safety traffic of vehicle, make the passenger health tilt simultaneously along with the swing of vehicle body, occupant's spinning sensation improves the comfort of people in the non-rectilinear driving process when avoiding conventional vehicles to turn.
Claims (5)
1. automatic safety control system of electric vehicle, it is characterized in that being connected with right digital hydraulic actuating cylinder (10) and T shape mechanism (15) by left digital hydraulic actuating cylinder (9) between whole (2) behind vehicle body (1) and the car, wheel steering mechanism (7) goes up steering torque sensor (6) is installed, and this sensor is collected turn inside diameter information; On vehicle (3) front-wheel speed sensor (5) has been installed, this sensor is collected the speed of vehicle; Inertial navigation sensor (4) also has been installed on vehicle body, and inertial navigation sensor (4) is collected the acceleration/accel and the vehicle angles information of vehicle; Speed sensor (5) and steering torque sensor (6) are connected to the input end of vehicle safety controller (8) by the CAN bus, vehicle safety controller (8) mouth be connected vehicle body (1) and car after the left digital hydraulic actuating cylinder (9) of whole (2) link to each other with right digital hydraulic actuating cylinder (10), control left digital hydraulic actuating cylinder (9) and right digital hydraulic actuating cylinder (10); Inertial navigation sensor (4) is installed on the vehicle body, and its signal input is input to vehicle safety control system (8) by the CAN bus;
Vehicle safety controller (8) gathering speed sensor (5), steering torque sensor (6), inertial navigation sensor (4) are measured the gained data message, through the computing of in-to-in analysis and Control, vehicle safety control system (8) output series of pulses signal, impulse singla control left hydraulic cylinder (9) is made relevant fore and aft motion with right hydraulic actuating cylinder (10), make whole electric automobile vehicle body (1) be implemented in 0.5 second time to the left or to the right direction and make the certain angle hunting motion, angle swinging is 0～45 °, and high vehicle speeds also is safe when turning.
2. automatic safety control system of electric vehicle according to claim 1, it is characterized in that digital hydraulic actuating cylinder in a described left side (9) and right digital hydraulic actuating cylinder (10) are the actuating units that promotes body movement, and T shape mechanism (15) is the structure of whole (2) behind connection vehicle body (1) and the car.
3. automatic safety control system of electric vehicle according to claim 1, it is characterized in that it is the embedded system of core processor that described vehicle safety controller (8) adopts central process unit TMS320LF240x chip, it is input as the signal of speed sensor (5), steering torque sensor (6), inertial navigation sensor (4) output.
4. automatic safety control system of electric vehicle according to claim 1 is characterized in that the digital hydraulic actuating cylinder in a described left side (9) links to each other with hydraulic efficiency pressure system by hydraulic oil pipe with right digital hydraulic actuating cylinder (10).
5. automatic safety control system of electric vehicle according to claim 1, it is characterized in that described T shape mechanism (15) comprise with T shape mechanism bonded assembly body contact bar (1-1), with T shape mechanism bonded assembly car after whole pipe link (2-1), body inclination center shaft (15-1) and vehicle body center of gravity lifting mechanism (15-2); Vehicle body connects back car integral body by body inclination center shaft (15-1), vehicle body center of gravity lifting mechanism (15-2), vehicle body is realized the inclination of vehicle body by body inclination center shaft (15-1) around this, simultaneously, the decline of center of gravity realizes by vehicle body center of gravity lifting mechanism (15-2) during body inclination; Vehicle body center of gravity lifting mechanism (15-2) comprises jam nut (15-2-1), turning unit (15-2-2), two bearings (15-2-3) and rotary middle spindle (15-2-4); Turning unit (15-2-2) is inner to be realized and being connected of rotary middle spindle (15-2-4) by two bearings (15-2-3), two bearings prevents the end float misalignment of turning unit (15-2-2), by jam nut (15-2-1) locking turning unit (15-2-2) and with T shape mechanism bonded assembly car after whole pipe link (2-1), the body inclination center shaft (15-1) that connects turning unit (15-2-2) is realized the function of vehicle body center of gravity lifting mechanism (15-2) around rotary middle spindle (15-2-4) rotation.
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|---|---|---|---|
| CN2010201082078U CN201685899U (en) | 2010-02-03 | 2010-02-03 | Automatic safety control system of electric automobile |
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| CN2010201082078U CN201685899U (en) | 2010-02-03 | 2010-02-03 | Automatic safety control system of electric automobile |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101786454A (en) * | 2010-02-03 | 2010-07-28 | 无锡市亦清轩数码动漫设计有限公司 | Automatic safety control system of electric vehicle and control method thereof |
| CN113173045A (en) * | 2021-05-27 | 2021-07-27 | 安徽工程大学 | Vehicle high-speed driving rollover-prevention passive early warning and active prevention system |
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2010
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101786454A (en) * | 2010-02-03 | 2010-07-28 | 无锡市亦清轩数码动漫设计有限公司 | Automatic safety control system of electric vehicle and control method thereof |
| CN113173045A (en) * | 2021-05-27 | 2021-07-27 | 安徽工程大学 | Vehicle high-speed driving rollover-prevention passive early warning and active prevention system |
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Granted publication date: 20101229 Termination date: 20120203 |